Stochastic Planning for ASV Navigation Using Satellite Images
Yizhou Huang,Hamza Dugmag,Timothy D. Barfoot,Florian Shkurti,Yizhou Huang,Hamza Dugmag,Timothy D. Barfoot,Florian Shkurti
Autonomous surface vessels (ASV) represent a promising technology to automate water-quality monitoring of lakes. In this work, we use satellite images as a coarse map and plan sampling routes for the robot. However, inconsistency between the satellite images and the actual lake, as well as environmental disturbances such as wind, aquatic vegetation, and changing water levels can make it difficult ...
